Practical consequences of inertia shaping for interaction and tracking in robot control - Dietrich, Alexander; Wu, Xuwei; Bussmann, Kristin; Harder, Marie; Iskandar, Maged; Englsberger, Johannes; Ott, Christian; Albu-Schäffer, Alin (Control engineering practice, 2021)
Keywords: Control; Feedback linearization; Inertia shaping; PD; Robotics; Control; Feedback linearization; PD; Robotics; Inertia shaping